Amador Valley High School Robotics Team / Mbed 2 deprecated SparkFun_razor_imu

A class to receive data from the SparkFun 9DOF Razor IMU. It can be easily adapted to work with IMUs with different data formats.

Dependencies:   mbed

imu.h@2:d8b182fbe018, 2011-11-04 (annotated)

Committer:
avbotz
Date:
Fri Nov 04 22:24:02 2011 +0000
Revision:
2:d8b182fbe018
Child:
3:f04d3d10d518
Appears to parse data correctly (centered around 512), but sometimes we get bad data.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
avbotz 2:d8b182fbe018 1 #pragma once
avbotz 2:d8b182fbe018 2
avbotz 2:d8b182fbe018 3 #include "mbed.h"
avbotz 2:d8b182fbe018 4
avbotz 2:d8b182fbe018 5 Serial PC(USBTX, USBRX);
avbotz 2:d8b182fbe018 6
avbotz 2:d8b182fbe018 7 DigitalOut myled1(LED1);
avbotz 2:d8b182fbe018 8 DigitalOut myled2(LED2);
avbotz 2:d8b182fbe018 9 DigitalOut myled3(LED3);
avbotz 2:d8b182fbe018 10 DigitalOut myled4(LED4);
avbotz 2:d8b182fbe018 11
avbotz 2:d8b182fbe018 12 class IMU{
avbotz 2:d8b182fbe018 13 public:
avbotz 2:d8b182fbe018 14 IMU(int baud, PinName tx, PinName rx, Serial* pc);
avbotz 2:d8b182fbe018 15 ~IMU();
avbotz 2:d8b182fbe018 16
avbotz 2:d8b182fbe018 17 void getData();
avbotz 2:d8b182fbe018 18 void attach(void (*fptr)(void));
avbotz 2:d8b182fbe018 19 void putc(char c);
avbotz 2:d8b182fbe018 20 //void readIMU();
avbotz 2:d8b182fbe018 21 short accX, accY, accZ, gyrX, gyrY, gyrZ, magX, magY, magZ;
avbotz 2:d8b182fbe018 22 bool readable;
avbotz 2:d8b182fbe018 23
avbotz 2:d8b182fbe018 24 private:
avbotz 2:d8b182fbe018 25 Serial* p_device;
avbotz 2:d8b182fbe018 26 Serial* p_pc;
avbotz 2:d8b182fbe018 27 inline void makeCorrect(short* i);
avbotz 2:d8b182fbe018 28 void parse();
avbotz 2:d8b182fbe018 29
avbotz 2:d8b182fbe018 30 int i_IMU;
avbotz 2:d8b182fbe018 31 char bufIMU[21];
avbotz 2:d8b182fbe018 32 } imu(57600, p9, p10, &PC);
avbotz 2:d8b182fbe018 33
avbotz 2:d8b182fbe018 34 void readIMU();